US9239380B2 - Driver assistance system for avoiding collisions of a vehicle with pedestrians - Google Patents

Driver assistance system for avoiding collisions of a vehicle with pedestrians Download PDF

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Publication number
US9239380B2
US9239380B2 US12/992,174 US99217409A US9239380B2 US 9239380 B2 US9239380 B2 US 9239380B2 US 99217409 A US99217409 A US 99217409A US 9239380 B2 US9239380 B2 US 9239380B2
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Prior art keywords
vehicle
pedestrian
assistance system
driver assistance
pedestrian crossing
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Expired - Fee Related, expires
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US12/992,174
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English (en)
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US20110184617A1 (en
Inventor
Stefan Hegemann
Akitsugu Yoda
Rolf Adomat
Michael Darms
Raksincharoensak Pongsathorn
Masao Nagai
Ikuko Shimizu
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ADC Automotive Distance Control Systems GmbH
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ADC Automotive Distance Control Systems GmbH
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Priority claimed from DE102008024707A external-priority patent/DE102008024707A1/de
Application filed by ADC Automotive Distance Control Systems GmbH filed Critical ADC Automotive Distance Control Systems GmbH
Assigned to ADC AUTOMOTIVE DISTANCE CONTROL SYSTEMS GMBH reassignment ADC AUTOMOTIVE DISTANCE CONTROL SYSTEMS GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SHIMIZU, IKUKO, DARMS, MICHAEL, NAGAI, MASAO, PONGSATHORN, RAKSINCHAROENSAK, ADOMAT, ROLF, HEGEMANN, STEFAN, YODA, AKITSUGU
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • G06K9/00798—
    • G06K9/00805—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • G01S17/023—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G01S2013/9346—
    • G01S2013/936—
    • G06K2209/27—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/10—Recognition assisted with metadata

Definitions

  • the invention relates to a driver assistance system that helps to avoid collisions of a vehicle with pedestrians.
  • the invention is applied, for example, in motor vehicles.
  • driver assistance systems are known that prevent a collision of a motor vehicle with pedestrians or at least mitigate the consequences of an accident for the pedestrian.
  • Known approaches infer the presence of a pedestrian directly by the detection of features that concern a pedestrian For example, pedestrians are classified directly in the image or in the sequence of images of a camera sensor and/or of a radar sensor. These driver assistance systems are based, for example, on a detection of the pedestrian by means of a video image camera system.
  • the detection of a pedestrian from image data requires a high computational capacity.
  • a thermal imaging camera may be used for the detection of pedestrians.
  • the disadvantage of this solution consists in the fact that a thermal imaging camera is very expensive.
  • Typical examples comprise pedestrian crossings or zebra crossings.
  • DE 10341753 A1 which is incorporated by reference herein, shows a device for detecting an approach to a pedestrian crossing in a vehicle, wherein the device generates a signal that identifies the approach, wherein the approach to the pedestrian crossing may be detected by means of a locating device (e.g. GPS) or a surroundings sensor technology (e.g. video sensor technology).
  • a locating device e.g. GPS
  • a surroundings sensor technology e.g. video sensor technology
  • this object is achieved by a driver assistance system and a device for a driver assistance system.
  • the invention described herein goes one step further and also uses features usually found near pedestrians in order to infer the presence of a pedestrian indirectly. In general, these features are clearly defined and may be detected more easily as far as the computational effort is concerned.
  • the term “pedestrian” also comprises wheelchair users, cyclists etc.
  • an object that is moving at a given speed on a pedestrian crossing or zebra crossing may be interpreted as being a pedestrian with a probability that is sufficiently high to output a warning to the driver and to thereby prevent a potential collision.
  • the zebra crossing is clearly defined by the traffic regulations of the corresponding country.
  • the motion may be detected using robust approaches, such as beam sensors or optical flow method.
  • One embodiment of the invention provides a pedestrian collision warning system in which the information about the presence of a pedestrian is based on the information determined by the vehicle camera and a beam sensor, e.g. a millimeter wave radar.
  • a beam sensor e.g. a millimeter wave radar.
  • the concept of the system consists in interpreting all objects moving on or near a zebra crossing as being pedestrians.
  • the image processing algorithm for evaluating the images recorded by the vehicle camera is adapted to detect the presence of a zebra crossing in front of the vehicle.
  • the technique used for extracting the features in the algorithm is based, for example, on the cross ratio between the edges of the zebra crossing and the periodicity of the markings of the zebra crossing.
  • the detected position of the zebra crossing on the one hand and e.g. the position and the speed of the moving object determined by the millimeter wave radar on the other hand are superimposed on each other in order to conclude therefrom that there is a pedestrian on the zebra crossing in front of the vehicle.
  • a warning is outputted to the driver when there is a possibility of a collision.
  • the warning on account of the merged sensor data may be a two-stage warning.
  • the warning When a zebra crossing in front of the vehicle is detected, the warning is yellow (first stage).
  • the warning When a moving object is detected on or near a zebra crossing, the warning is red (second stage).
  • FIG. 1 A driver assistance system for the protection of pedestrians for a motor vehicle with a zebra crossing detection function and an output unit is provided.
  • the output unit When the vehicle is approaching a zebra crossing, the output unit is activated and a warning is outputted. This warning may also be outputted in dependence on the speed of the vehicle.
  • the output unit When a vehicle is approaching a zebra crossing too fast, the output unit is activated.
  • the speed of the motor vehicle is reduced automatically when it is above a predetermined threshold value when the vehicle is approaching the zebra crossing, thereby ensuring that a vehicle is approaching a zebra crossing slowly.
  • the speed may only be reduced after a warning, when the driver does not react within a predetermined period of time.
  • the warning is outputted optically or acoustically in order to draw the driver's attention to a zebra crossing in front of the vehicle.
  • zebra crossing detection methods mentioned above may contribute to the invention individually or in combination with each other.
  • zebra crossing detection may be realized in such a manner that a zebra crossing is detected using two or more of the presented methods: A region in which a zebra crossing is very likely to exist is identified by means of the electronic map or traffic sign recognition. This assumption is verified or rejected by analyzing the image data of the camera system in the roadway region in front of the vehicle.
  • Solutions for avoiding collisions with pedestrians known from the state of the art have difficulty in e.g. detecting a crowd of people or pedestrians since these differ from the learned classification patterns (size, volume, clothes, bags, accessories such as bicycles, etc.).
  • the solution presented herein is advantageous since it does not have to search for such features, but searches for clearly defined features, such as a zebra crossing. This enables the driver assistance system to react in scenarios that are less clear, such as if the presented solution is combined with algorithms that are already known.
  • the advantage of combining radar data with information from a digital map or from vehicles driving ahead consists in the fact that effectual warnings may be outputted even in poor visibility.
  • FIG. 1 shows a schematic diagram of a pedestrian collision warning system.
  • FIG. 2 shows a graphic warning system based on the results of the detection of pedestrians.
  • FIG. 1 shows an exemplary embodiment of the architecture of a pedestrian collision warning system.
  • a camera sensor e.g. a CMOS sensor or a CCD sensor, records a sequence of images of the surroundings of the vehicle. The images are examined for the existence of a pedestrian crossing by means of an algorithm. When a pedestrian crossing is detected, the region in which the pedestrian crossing is positioned is delivered to an algorithm for the merger of the sensor data and the information about the existence of a pedestrian crossing is transmitted to a warning algorithm.
  • a beam sensor e.g. a millimeter wave radar or a lidar, detects objects that are moving in the surroundings of the vehicle.
  • the position and the speed (including the moving direction) of detected objects are delivered to the algorithm for the merger of the sensor data, whereupon this algorithm superimposes the region of the detected pedestrian crossing on the one hand and the object position and the object speed on the other hand on each other in order to obtain the “object data near the pedestrian crossing”.
  • These data are delivered to the warning algorithm.
  • the warning algorithm evaluates the obtained data and initiates the outputting of a warning to the driver when there is a danger of a collision with a pedestrian.
  • the warning may be a two-stage warning (see FIG. 2 a and FIG. 2 b ).
  • the pedestrian collision warning system may be realized with only one camera sensor.
  • a camera data evaluation is necessary that may detect the motion of objects using an optical flow method, for example.
  • a mono camera as a camera sensor
  • a stereo camera system instead of the shown use of a mono camera as a camera sensor, it is also possible to use a stereo camera system.
  • additional object data may be obtained, such as the size of objects, which facilitates the classification of objects as being pedestrians or increases the reliability of said classification.
  • FIG. 2 a and FIG. 2 b show a two-stage visual warning.
  • FIG. 2 a shows a situation in which a pedestrian crossing was detected.
  • a first warning stage e.g. in the form of a yellow warning level, is indicated to the driver.
  • FIG. 2 b shows a situation in which a pedestrian crossing was detected and an object moving on the pedestrian crossing was detected. This object is interpreted as being a moving pedestrian.
  • a second warning stage e.g. in the form of a red warning level, is indicated to the driver.
  • an automatic emergency braking may be carried out in such a situation in order to prevent a collision or to mitigate the consequences of the collision.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
US12/992,174 2008-05-21 2009-05-14 Driver assistance system for avoiding collisions of a vehicle with pedestrians Expired - Fee Related US9239380B2 (en)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
DE102008024707 2008-05-21
DE102008024707A DE102008024707A1 (de) 2008-05-21 2008-05-21 Fahrerassistenzsystem zum Fußgängerschutz
DE102008024707.3 2008-05-21
EP08015394.3 2008-09-01
EP08015394 2008-09-01
EP08015394 2008-09-01
PCT/EP2009/003427 WO2009141092A1 (de) 2008-05-21 2009-05-14 Fahrerassistenzsystem zur vermeidung von kollisionen eines fahrzeugs mit fussgängern

Publications (2)

Publication Number Publication Date
US20110184617A1 US20110184617A1 (en) 2011-07-28
US9239380B2 true US9239380B2 (en) 2016-01-19

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US (1) US9239380B2 (ja)
EP (1) EP2291836B1 (ja)
JP (1) JP5649568B2 (ja)
WO (1) WO2009141092A1 (ja)

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